GNSS signal processing with known position for reconvergence

ABSTRACT

Methods and apparatus provide for positioning of a rover antenna from GNSS data derived from multi-frequency signals and correction data derived from a network of reference stations. At each of a plurality of epochs, the GNSS data and correction data are used to estimate values defining a rover antenna position and a set of multi-frequency ambiguities. An ionospheric-free carrier-phase ambiguity per satellite is estimated based on a known rover antenna position. The estimated ionospheric-free carrier-phase ambiguity is combined with an estimated widelane ambiguity and with an estimated ionospheric-free ambiguity and with values defining the known rover antenna position to obtain values defining an aided rover antenna position and aided multi-frequency ambiguities.

CROSS REFERENCE TO RELATED APPLICATIONS

The following are related hereto and incorporated herein in theirentirety by this reference: U.S. Provisional Application Patent No.61/277,184 filed 19 Sep. 2009; International Patent ApplicationPCT/US2010/02565 filed 19 Sep. 2010; International Patent ApplicationPCT/US2010/02564 filed 19 Sep. 2010; International Patent ApplicationPCT/US2010/02563 filed 19 Sep. 2010; International Patent ApplicationPCT/US2010/02562 filed 19 Sep. 2010; International Patent ApplicationPCT/US2010/02581 filed 19 Sep. 2010; U.S. Provisional Application PatentNo. 61/337,980 filed 14 Feb. 2010; International Patent ApplicationPCT/US2011/24733 filed 14 Feb. 2011; International Patent ApplicationPCT/US2011/24743 filed 14 Feb. 2011; International Patent ApplicationPCT/US2011/24763 filed 14 Feb. 2011; U.S. Provisional Application PatentNo. 61/442,680 filed 14 Feb. 2011; International Patent ApplicationPCT/US2009/059552 filed 5 Oct. 2009; U.S. Provisional Application PatentNo. 61/195,276 filed 6 Oct. 2008; International Patent ApplicationPCT/US/2009/004471 filed 5 Aug. 2009; International Patent ApplicationPCT/US/2009/004473 filed 5 Aug. 2009; International Patent ApplicationPCT/US/2009/004474 filed 5 Aug. 2009; International Patent ApplicationPCT/US/2009/004472 filed 5 Aug. 2009; International Patent ApplicationPCT/US/2009/004476 filed 5 Aug. 2009; U.S. Provisional ApplicationPatent No. 61/189,382 filed 19 Aug. 2008; U.S. patent application Ser.No. 12/224,451 filed 26 Aug. 2008, United States Patent ApplicationPublication US 2009/0027625 A1; International Patent ApplicationPCT/US07/05874 filed 7 Mar. 2007, International Publication No. WO2008/008099 A2; U.S. patent application Ser. No. 11/988,763 filed 14Jan. 2008, United States Patent Application Publication US 2009/0224969A1; International Patent Application No. PCT/US/2006/034433 filed 5 Sep.2006, International Publication No. WO 2007/032947 A1; U.S. Pat. No.7,432,853 granted 7 Oct. 2008; International Patent Application No.PCT/US2004/035263 filed 22 Oct. 2004 and International PublicationNumber WO 2005/045463 A1; U.S. Pat. No. 6,862,526 granted 1 Mar. 2005;and U.S. Provisional Application Patent No. 61/396,676, filed 30 May2010.

This application is a U.S. National Stage of PCT Application No.PCT/US2012/28671, filed on Mar. 11, 2012, which claims benefit of U.S.Provisional Patent Application No. 61/466,065, filed on Mar. 22, 2011,which is incorporated herein by this reference.

TECHNICAL FIELD

The present invention relates to the field of Global NavigationSatellite Systems (GNSS). More particularly, the present inventionrelates to methods and apparatus for processing of GNSS data to providehigh precision positioning with rapid solution convergence.

BACKGROUND ART

Global Navigation Satellite Systems (GNSS) include the GlobalPositioning System (GPS), the Glonass system, the proposed Galileosystem, the proposed Compass system, and others. Each GPS satellitetransmits continuously using two radio frequencies in the L-band,referred to as L1 and L2, at respective frequencies of 1575.42 MHz and1227.60 MHz. Two signals are transmitted on L1, one for civil users andthe other for users authorized by the United States Department ofDefense (DoD). One signal is transmitted on L2, intended only forDoD-authorized users. Each GPS signal has a carrier at the L1 and L2frequency, a pseudo-random noise (PRN) code, and satellite navigationdata. Two different PRN codes are transmitted by each satellite: acoarse acquisition code and a precision (P/Y) code which is encryptedfor DoD-authorized users. Each C/A code is a unique sequence of 1023bits, which is repeated each millisecond. New GPS satellites are able tobroadcast on 3 frequencies. Other GNSS systems likewise have satelliteswhich transmit multiple signals on multiple carrier frequencies.

FIG. 1 schematically illustrates a typical prior-art scenario todetermine the position of a mobile receiver (rover). Rover 105 receivesGNSS signals from one or more satellites in view, such as satellites110, 115, 120, 125 and 130 shown. The signals pass through the earth'satmosphere 160, the upper portion is called the ionosphere, while thelower portion of the atmosphere is referred to as the troposphere. Themulti-frequency GNSS PRN code and carrier phase signals aresimultaneously tracked by the rover receiver and by one or more GNSSreference receivers 135 and 140. The ionosphere causes a dispersiveeffect whereby the code is delayed, while the carrier phase is advanced.The troposphere delays the signals with the magnitude of the effectdependent on the prevailing atmospheric temperature, pressure, relativehumidity and precipitable water vapor content.

Each satellite broadcasts a prediction of its expected orbitaltrajectory in a navigation message. The navigation message also includesa prediction of the expected satellite clock behavior. The satelliteclock, orbit and atmospheric errors can be considered as causing anapparent shift in the satellite locations 110→170, 115→175, 120→180,125-185, 130-190, as depicted in FIG. 1.

Prior-art network GNSS processing techniques such as described in U.S.Provisional Application Patent No. 61/277,184 filed 19 Sep. 2009, enablesatellite and atmospheric errors to be estimated by first tracking thesatellite signals at a network of reference stations, spatiallydistributed globally and/or regionally. The satellite orbit/clock andatmospheric errors are estimated in a network processor such as 145, inFIG. 1. The satellite correction data is then encoded and transmittedvia antenna 150, for later reception and use by one or more rovers 105

In prior-art rover processing techniques such as described inInternational Patent Application PCT/US2010/02562 filed 19 Sep. 2010,the rover GNSS data is combined with the GNSS network correction data ata plurality of epochs in order to estimate the rover antenna positionplus nuisance parameters such as a set of multi-frequency (carrierphase) ambiguities and tropospheric biases

FIG. 2 is a block diagram of a typical integrated receiver system 200with GNSS rover 105 and communications antenna 202. Receiver system 200can serve as rover 105 or as a reference station. Receiver system 200includes a GNSS receiver 205, a computer system 210 and one or morecommunications links 215. Computer system 210 includes one or moreprocessor(s) 220, one or more data storage elements 225, program code230 for controlling the processor(s) 220, and user input/output devices235 which may include one or more output devices 240 such as a displayor speaker or printer and one or more devices 245 for receiving userinput such as a keyboard or touch pad or mouse or microphone.

FIG. 3 illustrates the horizontal position accuracy convergence overtime of a GNSS rover position solution based on global GNSS networkcorrection data and precise satellite orbit and clock data. The x-axisrepresents time in minutes, while the y-axis represents the horizontalposition accuracy in centimeters. The x-y axes are denoted 405. Thetrace of horizontal position accuracy is denoted 410. Many highprecision applications require for example 2.5 cm (1 inch) horizontalposition accuracy; this threshold is indicated by the dashed horizontalline 415. The convergence time (420) needed to achieve the positionthreshold is around 18 minutes in this example. A tracking interruptionat the rover receiver occurs around time 40 minutes (denoted 425). Thetracking interruption leads to a reconvergence period 430.

Based on GPS satellites alone, it is common to have convergence times of10-30 minutes to achieve a horizontal position accuracy of 2.5 cm. ManyGNSS applications need cm-level accuracy and therefore the convergencetime hinders the usefulness of the system. It is common for satellitetracking to be interrupted from time-to-time on one or more satellitesat the rover, particularly when the rover is moving. If the number oftracked satellites drops below 4, the solution is converged again asshown in FIG. 3.

In prior-art processing techniques, Geng, J, et al, 2010, Rapidre-convergences to ambiguity-fixed solutions in precise pointpositioning, Journal of Geodesy, Vol 84, pp 705-714, a technique isdescribed for improving the re-convergence of precise point positioningfollowing tracking interruptions. Specifically, the wide-laneambiguities are estimated first with the aid of ionospheric-free codemeasurements. Next a linear time-window-based prediction of theionospheric bias on each cycle slipped satellite is made. The predictedionospheric bias is used to limit the search space of narrow-lane phaseambiguities. The reported results from ibid, show re-convergence timesof 5 seconds in most tests. Few details are provided on the filteringscheme used for the PPP solution.

In prior-art processing techniques, Banville, S, and Langley, R. B.,2010, Instantaneous Cycle-Slip Correction for Real-Time PPPApplications, NAVIGATION, Journal of the US Institute of Navigation, Vol57 No 4, Winter, pp 325-334, describe a way of repairing cycle slips inPrecise Point Positioning (PPP) applications based on time-differencedphase measurements. First an attempt is made to fix the time-differencedwide-lane carrier phase ambiguities following an interruption tosatellite tracking. Next the known wide-lane ambiguities are used inconjunction with the assumed time-wise change in ionospheric bias to fixthe L1 and L2 on each satellite during the tracking interruption.

Precise Point Positioning (PPP) techniques involve careful modeling ofvarious error sources affecting satellite measurements. Real-time roverprocessors are often limited in terms of size, weight and power andtherefore careful consideration must be given to efficient dataprocessing techniques that minimize compute power. The prior-art methodsfor cycle slip repair in PPP applications do not mention the use ofdistributed filtering for the underlying state parameter estimation.

Improved GNSS processing methods and apparatus are desired, especiallyto achieve faster and more efficient convergence to a solution, improvedaccuracy and/or greater availability.

SUMMARY

The following invention presents a way of reducingconvergence/reconvergence times by taking advantage of:

-   -   predictability of the tropospheric biases over short tracking        outages (tropo-bridging);    -   predictability of the satellite ionospheric biases over short        tracking outages (iono-bridging);    -   predetermined knowledge of the user location (known position        input).

Methods and apparatus provide for positioning of a rover antenna fromGNSS data derived from multi-frequency signals and correction dataderived from a network of reference stations. At each of a plurality ofepochs, the GNSS data and correction data are used to estimate valuesdefining a rover antenna position and a set of multi-frequencyambiguities. An ionospheric-free carrier-phase ambiguity per satelliteis estimated based on a known rover antenna position. The estimatedionospheric-free carrier-phase ambiguity is combined with an estimatedwidelane ambiguity and with an estimated ionospheric-free ambiguity andwith values defining the known rover antenna position to obtain valuesdefining an aided rover antenna position and aided multi-frequencyambiguities.

BRIEF DESCRIPTION OF DRAWING FIGURES

Embodiments in accordance with the invention are described herein withreference to the drawing Figures, in which:

FIG. 1 schematically illustrates a GNSS rover operating with correctiondata in the presence of satellite error sources;

FIG. 2 schematically illustrates a typical integrated GNSS receiversystem;

FIG. 3 shows convergence and reconvergence of horizontal positionaccuracy over a tracking interruption;

FIG. 4 schematically illustrates the use of global corrections at arover receiver

FIG. 5 is a schematic diagram of a factorized-array multi-carrierambiguity resolution (FAMCAR) filtering scheme used for processing ofGNSS signal data;

FIG. 6 is a flow chart of geometry filter processing;

FIG. 7 is a flow chart of epoch processing of GNSS data;

FIG. 8 illustrates observed versus filtered ionospheric phase over timewith a tracking interruption;

FIG. 9 is a schematic diagram of a FAMCAR filtering scheme withionospheric bridging in accordance with some embodiments of theinvention;

FIG. 10 is a flow chart of ionospheric bridging processing in accordancewith some embodiments of the invention;

FIG. 11 illustrates a caching process in accordance with someembodiments of the invention;

FIG. 12 schematically illustrates a surveying scenario using a GNSSrover with correction data;

FIG. 13 illustrates a known-position aiding process in accordance withsome embodiments of the invention; and

FIG. 14 schematically illustrates the use of known-position aiding inthe FAMCAR process in accordance with some embodiments of the invention.

DETAILED DESCRIPTION Global Virtual Reference Station (GVRS) PositioningPrinciples

Overview

FIG. 4 shows an embodiment of Global Virtual Reference Station (GVRS)rover processing with GNSS satellite corrections (taken from FIG. 38 ofU.S. Provisional Application for Patent No. 61/277,184 filed 19 Sep.2009). Rover receiver 3805 receives GNSS signals from multiple GNSSsatellites, of which three are shown at 3810, 3815, 3820. Receiver 3805derives GNSS data 3825 from code observations and carrier-phaseobservations of the GNSS signals over multiple epochs.

Precise satellite data 3830 for the GNSS satellites are received, via acorrection message broadcast by a communication satellite 3835 in thiscase, or by other means, such as wireless Internet. The correctionmessages are decoded by a message decoder 3832. A Synthesized BaseStation (SBS) module 3835 receives the precise satellite data 3830 andalso receives information which it can use as a virtual base location,such as an approximate rover position with time tag 3842 generated by anoptional navigation engine 3845. The approximate rover position isoptionally obtained from other sources as described below.

SBS module 3835 uses the precise satellite data 3830 and the approximaterover position with time tag 3842 to synthesize base station data 3850for the virtual base location. The base station data 3850 comprises, forexample, synthesized observations of L1 code, L2 code, L1 carrier-phaseand L2 carrier-phase, and optionally includes information on L1 cycleslip, L2 cycle slip and the virtual base location.

The synthesized base station data 3850 is delivered to the RTKprocessing engine 3855, and combined with locally collected GNSS data3825. The combined GNSS data can be processed in a manner similar toconventional single-base real-time kinematic data in order to produce anestimate of the rover position 3860.

FAMCAR

The Factorized Multi-Carrier Ambiguity (FAMCAR) algorithm uses adistributed filtering strategy for estimating the carrier phaseambiguities, position and other parameters needed in high-precision GNSSdata processing. The FAMCAR approach was originally designed forefficient single-baseline RTK processing as described in U.S. Pat. No.7,432,853, Vollath, U., Ambiguity Estimation of GNSS Signals for Threeor more Carriers. However the FAMCAR approach can readily accommodatesingle-baseline, virtual base processing, and global virtual referencestation (GVRS) processing as described below.

FIG. 5 schematically illustrates the distributed filtering scheme usedfor FAMCAR-based GVRS processing. Table 1 presents a summary of theobservation types processed in each filter component.

TABLE 1 Summary of observation types applied to FAMCAR component filtersfor GVRS processing. GPS L1 Band GPS L2 Band GNSS observation typeCoefficient Coefficient Filter processed α β Code-Carrier Wide-lanephase combination +1 −1 Narrow-lane code combination +1 +1 IonosphericIonospheric phase combination +_(L1)λ −_(L2)λ Auxiliary Ionospheric-freephase _(L2)λ²/(_(L2)λ² − _(L1)λ²) −_(L1)λ_(L2)λ/(_(L2)λ² − _(L1)λ²)Code-Carrier combination Ionospheric-free code _(L2)λ²/(_(L2)λ² −_(L1)λ²) −_(L1) λ²/(_(L2)λ² − _(L1)λ²) combination GeometryIonospheric-free phase _(L2)λ²/(_(L2)λ² − _(L1)λ²)−_(L1)λ_(L2)λ/(_(L2)λ² − _(L1)λ²) combinationwith multi-frequency phase combinations formed as follows:_(c)Φ=α_(L1)Φ+β_(L2)Φ  (1)and multi-frequency code combinations formed as follows:_(c) R=α _(L1) R+β _(L2) R  (2)where:

-   α, β L1 and L2 measurement band coefficients respectively,-   _(L1)Φ, _(L2)ΦL1 and L2 carrier phase measurements respectively,-   _(c)Φ Carrier phase combination,-   _(L1)λ, _(L2)λ L1 and L2 carrier wavelengths respectively,-   _(L1)R, _(L2)R L1 and L2 code measurements respectively,-   _(c)R Code combination.

In FIG. 5 single-differenced GNSS observations 605, formed from thecombined Synthesized Base Station Data and locally collected rover GNSSdata, are fed into the FAMCAR estimation process typically at regular(for example 1 Hz) epochs. The frequency band coefficients for each ofthe multi-band measurement combinations needed are computed at 610. Themulti-band measurement combinations are input to the Code-Carrier Filterbank 615, the Ionospheric Filter Bank 620, the Auxiliary Code-CarrierFilter Bank 625, and the Geometry Filter 630. The output of theCode-Carrier-, Ionospheric-, and Auxiliary Code-Carrier Filter banks is:Wide-Lane Phase Ambiguities 635, Ionospheric Phase Ambiguities 640,Iono-Free Phase ambiguities 645, respectively. The Geometry filterproduces position and iono-free ambiguities which are contained in 650.All position and ambiguities are combined at 655 to produce the finalPosition & Float Ambiguity L1/L2 estimates 660.

Component Filters

Code-Carrier and Auxiliary Code-Carrier Filters

The Code-Carrier filters and Auxiliary Code-Carrier filters utilizecode/carrier combinations that are matched in terms of ionospheric bias.This means that the combinations can be averaged indefinitely withoutionospheric bias corrupting the estimated carrier phase ambiguityresults. The precision of the carrier phase ambiguity estimates aredriven largely by the precision of the underlying code measurements. Inparticular for the Auxiliary Code-Carrier filters, the uncertainties inthe phase ambiguity estimates are typically several cycles even afterconvergence times of many minutes.

The output of the Code-Carrier-filter banks and the AuxiliaryCode-Carrier filter banks includes:

-   -   carrier phase ambiguity estimates;    -   phase combination used;    -   variance of the carrier phase ambiguity estimates;    -   associated statistics.

Ionospheric Filters

For GVRS processing, the ionospheric filters are not able to readilyestimate the difference in ionospheric bias between server and rover(essentially the absolute ionospheric bias at the rover). Hence, theionospheric filter results are normally disabled via deweighting (i.e.setting their variances large=1e+4). Note that this contrasts withsingle-baseline RTK processing where the ionospheric biases can betightly constrained and therefore accelerate the convergence of thefinal results.

The output of the Ionospheric filter banks include:

-   -   carrier phase ambiguity estimates;    -   phase combination used;    -   variance of the carrier phase ambiguity estimates;    -   associated statistics.

Geometry Filter

The Geometry filter state vector (x) typically includes the followingparameters:

-   -   rover position (X_(A),Y_(A),Z_(A)), given in terms of WGS84        Cartesian coordinates, receiver clock terms for each satellite        system (i.e. T_(G)=GPS clock bias; T_(R)=GLONASS clock bias,        etc),    -   single-difference iono-free (if) carrier phase multipath biases        for each satellite (Δ_(if)m^(i), i=1 . . . s),    -   rover tropospheric scale (τ_(s)) and optionally east and north        tropospheric gradient parameters (τ_(e),τ_(n)),    -   single-difference iono-free carrier phase ambiguities for each        satellite (Δ_(if)N^(i), i=1 . . . s).        x=[X _(A) Y _(A) Z _(A) T _(G) T _(R)Δ_(if) m ¹Δ_(if) m ² . . .        Δ_(if) m ^(s)τ^(s)τ^(e)τ^(n)Δ^(if) N ₁Δ_(if) N ₂ . . . Δ_(if) N        _(s)]^(T)  (3)

The Geometry filter output includes:

-   -   position, carrier phase ambiguity estimates and tropospheric        bias parameters;    -   phase combination used;    -   variance-covariance matrix for the estimated parameters;    -   associated statistics.

Geometry Filter Processing Steps

FIG. 6 illustrates the processing steps used in the Geometry filterwhich follow a general Kalman filtering approach. At each new time epoch705, a time update of the filter occurs 735, involving:

-   -   testing for the occurrence of cycle slips (tracking        interruptions) on each satellite (710),    -   initializing the ambiguity state value(s) for any cycle slipped        satellite (715),    -   adding process noise to the position and receiver clock states        (720),    -   adding process noise to the tropospheric bias parameter(s)        (725),    -   predicting the multipath bias state values for each satellite        (730).

When GNSS code and phase measurements are available (test 740), they areused to update the filters at 745. The current filter results are madeavailable at 750. Test 755 checks for more epochs to process. If moreepochs are available, then the new epoch is handled at 705. Processingis terminated at 760 when no more data is available, i.e. when the roverreceiver is turned off.

Filter Combiner

The Filter-Combiner accepts the output of component filters and forms aso-called float solution. That is, the single-difference L1 and L2carrier phase ambiguities are estimated as floating point numbers. Theposition of the rover is also derived from the filter combination step.The results of the filter combination are intended to be equivalent tothose that would be obtained with an analogous big-filter. i.e. a filterwhich models state parameters for all unknowns, rather than adistributed filtering scheme.

The position and float (floating-point) carrier phase ambiguities areforwarded on to the iFlex ambiguity search/validation component of thesystem at each epoch.

iFlex

In traditional carrier phase data processing, the ambiguities areresolved and constrained to a single integer candidate often called thefixed-ambiguity solution. With the carrier phase ambiguities resolved,the precision of the remaining position (and other) parameters isgreatly improved. The iFlex scheme takes advantage of the integer-natureof the ambiguities without necessarily enforcing a single integerambiguity outcome. The overall convergence of the GVRS processing isenhanced by iFlex treatment of the carrier phase ambiguities (refer toInternational Patent Application PCT/US/2009/004476 filed 5 Aug. 2009for details of the iFlex technique).

FAMCAR Processing Summary

FIG. 7 illustrates the FAMCAR processing steps. At 805 a new epoch ofsingle-difference GNSS data becomes available. The GNSSsingle-difference observations are used at step 810 to update theCode-Carrier-, Ionospheric-, Auxiliary Code-Carrier-, and Geometryfilters. The results from each filter/filter-bank are assembled at 815,and combined at 820 in a least squares sense to form a position andfloat ambiguity solution. The position and float ambiguity solution isstatistically tested at 825 to validate the solution quality. If thesolution passes the statistical test(s), An iFlex position and ambiguitysolution is generated at 830. If the float solution is deemed bad, thenaction is taken at 835 to isolate and reset the offending filter(s). Theepoch processing loop continues if more data is available (840),otherwise processing is stopped (845).

The unknown parameters estimated in the FAMCAR combination state vectorinclude the following:x=[X _(A) Y _(A) Z _(A)Δ_(L1) N ¹Δ_(L2) N ¹Δ_(L1) N ²Δ_(L2) N ² . . .Δ_(L1) N ^(s)Δ_(L2) N ^(s)]^(T)  (4)where Δ_(L1)N^(i)Δ_(L2)N^(i) are the single-difference L1 and L2floating point carrier phase ambiguities, for satellites i=1 . . . s.

The uncertainty of the FAMCAR state parameters are contained within thecorresponding state covariance matrix.

Troposphere Bridging

Introduction

The troposphere is considered as the lower-part of the atmosphere up toan altitude of approximately 50 km above the earth. The troposphere iscomposed of dry gasses and water vapour and causes a non-dispersivedelay of GNSS radio waves.

Modelling the Tropospheric Bias

Although the dry component of the tropospheric delay can be well modeledvia surface measurements of temperature, pressure and relative humidity;the effect of the wet component is more problematic. The wet componentcan be handled via the estimation of one or more tropospheric scaleterms in the state vector of the Geometry filter.

The troposphere delay at any given point is often assumed as beingisotropic, however experience has shown that weather fronts cause strongspatial biases. Additional east/north gradient components can beestimated in the geometry filter state vector to help address theeolotropic nature of the tropospheric wet delay. Details of horizontaltropospheric gradient estimation using a single GPS receiver are givenin Bar-Sever, Y. E, et. al., 1997, Estimating Horizontal Gradients ofTropospheric Path Delay with a Single GPS Receiver, submitted to theJournal of Geophysical Research, November 7.

The tropospheric bias is generally slowly changing. Even with thepassage of strong weather fronts, the tropospheric bias normally onlychanges <10 mm/hour^(1/2) [ibid]. The tropospheric bias is thereforewell predicted over time once the tropospheric states have converged.

The measurement coefficients for the tropospheric parameters are givenby:

${{- \tau_{s}^{i}} = {{rover}\mspace{14mu}{tropospheric}\mspace{14mu}{model}\mspace{14mu}{delay}\mspace{14mu}\left( {{scale}\mspace{14mu}{parameter}\mspace{14mu}{for}\mspace{14mu}{satellite}\mspace{14mu} i} \right)}},{{- \tau_{e}^{i}} = {\frac{{\sin\left( {azim}^{i} \right)}*{\cos\left( {elev}^{i} \right)}}{\left\lbrack {\sin\left( {elev}^{i} \right)} \right\rbrack^{2}}\left( {{east}\mspace{14mu}{gradient}\mspace{14mu}{parameter}\mspace{14mu}{for}\mspace{14mu}{satellite}\mspace{14mu} i} \right)}},{{- \tau_{n}^{i}} = {\frac{{\cos\left( {azim}^{i} \right)}*{\cos\left( {elev}^{i} \right)}}{\left\lbrack {\sin\left( {elev}^{i} \right)} \right\rbrack^{2}}\left( {{north}\mspace{14mu}{gradient}\mspace{14mu}{parameter}\mspace{14mu}{for}\mspace{14mu}{satellite}\mspace{14mu} i} \right)}}$where:

-   azim^(i) is the azimuth of satellite i with respect to (with respect    to) true north at the rover location,-   elev^(i) is the elevation of satellite i with respect to the local    horizon plane of the rover.

The tropospheric bias states can be suitably modeled as random walk,autoregressive, or Gauss-Markov processes. Table 2 contains anacceptable model for the tropospheric bias parameters.

The tropospheric states are updated during the Geometry Filtertime-update step, as shown by 725 in FIG. 6. When measurement updatesare missed (see test 740 in FIG. 6), i.e. when there are data gaps, theuncertainty in the tropospheric parameters is increased by time-updateof the Geometry Filter. The tropospheric parameters re-converge with theapplication of measurement data. Given the appropriate measurement andsystem modeling of the tropospheric states, the Kalman filtering processautomatically handles tropospheric bridging in the Geometry filter. Thatis, the change in the satellite tropospheric biases can be accuratelypredicted across tracking interruptions of several minutes.

TABLE 2 Suitable tropospheric state definition. Tropospheric StateSystem Model Initial State Parameter Type Variance System ModelParameters Scale Random Walk ScaleFactor * DrivingNoiseVariance = 0.0019DeltaTime² * ScaleFactor * 1.0e−8 East Gradient First-OrderScaleFactor * 5.0e−6 CorrelationTime = 1800 sec Gauss-Markov CorrelatedVariance = ScaleFactor * 5.0e−6 North Gradient First-Order ScaleFactor *5.0e−6 CorrelationTime = 1800 sec Gauss-Markov Correlated Variance =ScaleFactor * 5.0e−6 (ScaleFactor = 0.40)

Ionospheric Bridging

Introduction

On short-baseline RTK processing, the ionospheric bias is well known andtherefore, the ionospheric filter ambiguity estimates are rapidlydetermined with high precision. The float-ambiguity solution is quicklydetermined as a result of the high precision ionospheric filterambiguity estimates. For GVRS processing, the ionospheric filter resultsare heavily deweighted (essentially ignored) because of a lack ofionospheric bias information. However, once the float solution hasconverged the ionospheric bias for each observed satellite can bedetermined as described below.

Once the satellite ionospheric biases have been determined, theionospheric bridging approach relies on the predictability of theionosphere to accelerate re-convergence of the float solutionimmediately following a tracking interruption.

Estimation of Ionospheric Phase Ambiguities

Recall from (4), that the FAMCAR estimation process yields L1 and L2float(ing point) carrier phase ambiguities for each satellite observed:Δ_(L1) N ¹Δ_(L2) N ¹Δ_(L1) N ²Δ_(L2) N ² . . . Δ_(L1) N ^(s)Δ_(L2) N^(s)

The formal precision of the L1 and L2 ambiguities is available from theambiguity partition (Q_(nn)) of the state vector covariance matrix:

$\begin{matrix}{Q = \begin{bmatrix}Q_{xx} & Q_{xn} \\Q_{nx} & Q_{nn}\end{bmatrix}} & (5)\end{matrix}$where:

-   Q_(xx) Covariance partition for the position unknowns (3×3);-   Q_(xn) Covariance partition for the position/ambiguity unknowns    (3×a);-   Q_(nx) Covariance partition for the ambiguity/position unknowns    (a×3);-   Q_(nn) Covariance partition for the ambiguity unknowns (a×a);-   a number of ambiguity states.

The iFlex processing scheme can be used to generate improved estimatesof the state parameters which includes the carrier phase ambiguities.Let the iFlex L1 and L2 ambiguities be denoted with a {hacek over ( )}as follows:Δ_(L1) {hacek over (N)} ¹Δ_(L2) {hacek over (N)} ¹Δ_(L1) {hacek over(N)} ²Δ_(L2) {hacek over (N)} ² . . . Δ_(L1) {hacek over (N)} ^(s)Δ_(L2){hacek over (N)} ^(s)  (6)

The iFlex scheme can also yield the covariance matrix of the unknownparameters, hence the formal precision of the iFlex ambiguities is knownand this allows an assessment to be made as whether or not the iFlexambiguities are sufficiently close to their true integer values.

With the iFlex carrier phase ambiguities well known, thesingle-difference ambiguity term on satellite i, can be computed for theionospheric phase combination as:Δ_(iono) {hacek over (N)} ^(i)=_(L1)λ_(L1) {hacek over (N)}^(i)−_(L2)λ_(L2) {hacek over (N)} ^(i)  (7)

The ionospheric biases can be estimated on each single-difference(server-rover) satellite measurement according to:Δ_(iono) I ^(i)(t)=Δ_(iono)Φ^(i)(t)−Δ_(iono) N ^(i)(t)−Δ_(iono) b^(i)(t)  (8)where:

-   Δ_(iono)I^(i)(t)—the single-difference ionospheric delay, at time t,    for satellite i;-   Δ_(iono)N^(i)(t)—the single-difference ionospheric ambiguity, for    satellite i;-   Δ_(iono)Φ^(i)(t)—the single-difference ionospheric phase at time t,    for satellite i;-   Δ_(iono)b^(i)(t)—the single-difference ionospheric phase bias at    time t, for satellite i.

The single-difference ionospheric phase bias term (Δ_(iono)b^(i)(t)) in(8) includes non-integer biases of rover and server, and phase wind-upeffects induced on the rover receiver antenna. Phase wind-up effectschange with rotation of the rover antenna, however the effect isidentical for all satellites observed at the rover and therefore cancelwith double-differencing. Server biases are enforced to be constant,through the treatment of the satellite phase clock terms. Thesingle-difference ionospheric ambiguity term (Δ_(iono)N^(i)(t)) isconstant so long as carrier phase tracking is maintained.

The single-difference ionospheric delay (Δ_(iono)I^(i)(t)) changes withtime as the ionospheric bias at the rover changes. Multipath bias isalso included in the single-difference ionospheric delay, a componentthat typically has a magnitude of for example 1-5 cm and a correlationtime of 10-60 s.

If tracking is interrupted at the rover, the single-differenceionospheric ambiguity term in (8) changes. The single-differenceionospheric ambiguity term can be re-established after a trackinginterruption by using predicted ionospheric delay and observedionospheric carrier phase:Δ_(iono) N ^(i)(t ₁)=Δ_(iono) N ^(i)(t ₀)+Δ_(iono)Φ^(i)(t₁)−{Δ_(iono)Φ^(i)(t ₀)+Δ_(iono) I ^(i)(t ₁)−Δ_(iono) I ^(i)(t ₀)}  (9)where:

-   Δ_(iono)N^(i)(t₀)—single-difference ionospheric ambiguity, at time    t0;-   Δ_(iono)N^(i)(t₁)—single-difference ionospheric ambiguity, at time    t1 (iono-bridged ambiguities);-   Δ_(iono)Φ^(i)(t₀)—single-difference ionospheric phase, observed at    time t0;-   Δ_(iono)Φ^(i)(t₁)—single-difference ionospheric phase, observed at    time t1;-   Δ_(iono)I^(i)(t₁)−Δ_(iono)I^(i)(t₀)—change in single-difference    ionospheric delay between times 0 and 1.

The single-difference ionospheric ambiguity terms (Δ_(iono)N^(i)(t₁)),for each satellite are used in place of the heavily deweightedionospheric filter ambiguity estimates in the filter combination step(refer to 640 in FIG. 5). The precision of the resulting float solutionis improved by the ionospheric ambiguity aiding.

Predicting the Change in Ionospheric Delay

The variation in the single-difference ionospheric delay over time[Δ_(iono)I^(i)(t₁)−Δ_(iono)I^(i)(t₀)] should be precisely modeled. Theionosphere is considered as that part of the atmospheric from around50-1000 km above the earth. Radiation from the sun causes ionization ofparticles which then result in a frequency-dependent bias on radio wavespassing through the medium. The complex physical structure of theionosphere and the influence of variable solar radiation levels makeaccurate ionospheric delay modeling difficult. Nevertheless, for thepurposes of predicting the ionospheric bias it is possible to just modelthe variation of the single-difference ionospheric delay for eachsatellite, without considering the underlying physical causes of thevariation.

A simple 2-state Kalman filter can be used to model single-differenceionopheric phase and ionospheric phase rate (these filters aredesignated as iono predictor/filters), with a state vector:

$\begin{matrix}{x = \begin{bmatrix}{\Delta_{iono}{\Phi^{i}(t)}} \\{\Delta_{iono}{\Phi^{i}(t)}}\end{bmatrix}} & (10)\end{matrix}$with the state transition matrix (M) defined as:

$\begin{matrix}{M = \begin{bmatrix}1 & {\Delta\; t} \\0 & 1\end{bmatrix}} & (11)\end{matrix}$the system driving noise covariance matrix given by:

$\begin{matrix}{Q_{w} = {\xi\begin{bmatrix}{\Delta\;{t^{3}/3}} & {\Delta\;{t^{2}/2}} \\{\Delta\;{t^{2}/2}} & {\Delta\; t}\end{bmatrix}}} & (12)\end{matrix}$where the spectral density of the driving noise (ζ) defines the level offiltering applied. A suitable value for ξ=4.0 e−5.

The measurement model for the filter is defined as:

$\begin{matrix}{{\Delta_{iono}{\Phi^{i}(t)}} = {{\left\lbrack {1\mspace{14mu} 0} \right\rbrack\begin{bmatrix}{\Delta_{iono}{\Phi^{i}(t)}} \\{\Delta_{iono}{\Phi^{i}(t)}}\end{bmatrix}} + {v^{i}(t)}}} & (13)\end{matrix}$with

-   v^(i)(t) measurement residual for satellite i, at time t.

The Kalman filter provides a way of reducing high-frequency noise on themeasurements and enables the prediction of the change in ionosphericphase delay across tracking interruptions. FIG. 8 illustrates theobserved ionospheric phase for a single satellite. The variation in theobservations is due mainly to changes in the ionospheric delay as wellas carrier phase multipath. The filtered estimates track the generaltrend of the ionospheric phase observations. Immediately following thetracking interruption, the difference between the predicted and actualionospheric phase measurement provides an estimate of the approximatechange in carrier phase ambiguity.

Using the Bridged Ionospheric Ambiguities

Once the rover FAMCAR solution has converged sufficiently and theionospheric ambiguities are well known, each single-difference satelliteionospheric phase ambiguity is cached. If an outage occurs on trackedsatellites, the ionospheric carrier phase ambiguity estimates generatedafter the tracking outage [Δ_(iono)N^(i)(t₁) from (9)] are used toreplace the normally deweighted ionospheric filter information (see 640in FIG. 5).

The precision of the position and ambiguity estimates obtained from theFAMCAR process with ionospheric bridging is far better than those thatwould derive without bridging.

FIG. 9 schematically illustrates the FAMCAR filtering process with ionobridging functionality added. FIG. 9 is an extension of the standardFAMCAR filtering schematic shown in FIG. 5. In FIG. 9, the Ionosphericbridging processor 1005, accepts prepared single-difference GNSSobservations, plus the deweighted ionospheric phase ambiguities 640.When ionospheric bridging is needed and possible, the bridgedionospheric ambiguities 1010 are used to replace the deweightedionospheric phase ambiguities from 640. The bridged ionosphericambiguities help to improve the FAMCAR float solution produced by thefilter combiner at 655.

Bridging Timeout

The bridged ambiguities are applied to the FAMCAR process every epochimmediately following the outage in order to gain rapid re-convergenceof the position estimates. However, it is important to limit the amountof time that the bridged ambiguities are applied to the FAMCAR solution.If for example there is an error in one or more of the bridgedambiguities, this error will propagate indefinitely forward and resultin position errors of a few centimeters up to several decimeters.

The ionospheric bridging can be stopped as soon as the geometry filternaturally re-converges to a level where the bridged ambiguities nolonger provide an improvement to the results.

Detailed Flowchart for Ionospheric Bridging Process

FIG. 10 contains a detailed flowchart for the ionospheric bridgingprocess. Note that the first step of the ionospheric bridging process(815); and the last step 820, relate to FIG. 8.

The test at 1105 is used to determine if the Geometry filter hasconverged, if so, then ionospheric bridging is no longer needed. A testis made at 1110 to see if iFlex ambiguities have already been cached.iFlex ambiguities are cached to be able to run the ionospheric bridgingprocess. The ionospheric bias is predicted at 1115 for each cachedsatellite according to the approach defined by equations 9-13. If thecached ionospheric ambiguities are out of date (test 1120) then afurther test is made at 1125 to see if the predicted ionosphericambiguities are sufficiently well known. If the ionospheric ambiguitiesare well known, then they are stored at 1130.

The deweighted ionospheric filter ambiguities are replaced by bridgedionospheric ambiguities at 1135, when possible. The ionospheric biasfilters are updated for each tracked satellite at 1140. Finally, theFAMCAR filter results are combined at 820.

FIG. 11 presents a flowchart describing the iFlex ambiguity cachingprocess. The flowchart is an expansion of steps 830 and 840 in FIG. 8.

A test is made at 1205 to see if the number of iFlex ambiguities hassettled. If the number of satellites is changing, this generallyindicates a poor tracking environment and compromised iFlex ambiguityestimates. If the iFlex ambiguities are well known, then they can beassumed to approach a single integer candidate (test 1210) and thereforethe iFlex ambiguities can be cached at 1215. The cycle slip counters arestored with the iFlex ambiguities for later use in the iono bridgingprocess.

If the number of satellites tracked is inconsistent, or the iFlexambiguities are not well enough known, caching is skipped until anotherepoch of data is processed.

The ionospheric bridging process enables centimeter level horizontalpositioning accuracy to be reestablished within 5-30 s after trackinginterruptions. Tracking interruptions up to 2 minutes can be readilybridged as long as the ionospheric delays are smoothly changing.

Known Position Techniques

BACKGROUND ART

Known position initialization techniques have been used since the firstRTK products were sold. In a prior-art method Allison, M. T. et al.,1994, Determination of phase ambiguities in satellite ranges, U.S. Pat.No. 5,359,332, Issued October 25, the distance and orientation of arover antenna relative to a reference antenna is used in the estimationof the carrier phase ambiguities on GNSS signals for the purposes ofcentimeter level positioning. An apparatus is also described in which anazimuth measuring device is coupled with a fixed distance rover antennamount. The method and apparatus described focuses on single reference(base) RTK positioning and does not address the estimation processneeded for GVRS positioning.

Known Position Input

Introduction

FIG. 12 schematically illustrates a scenario using a GNSS rover withcorrection data for point surveying. A user 1100 has a rover receiver(rover) 1105 which is mounted on a range pole 1110 or in some cases is ahand-held, or machine-mounted unit without a range pole. Rover 1105includes a GNSS antenna 1115 and a communications antenna 1120. Rover1105 receives at its GNSS antenna 1115 the signals from GNSS satellites1125, 1130, 1135, 1140, 1145, etc. Rover 1105 also receives at itscommunications antenna 1120 correction data from a corrections source1150 via a communications link 1155. The communications link is, forexample, a radio link or mobile telephone link, or any other suitablemeans of conveying the correction data to the rover 1105. The correctiondata can be of any suitable type for improving the positioning accuracyof rover 1105, such as: differential base station data from a basestation serving as corrections source 1150, or virtual reference stationdata from a network of reference stations serving as corrections source1150 (WAAS is one example), or precise orbits and clocks data from aGVRS service such as that described in U.S. Provisional ApplicationPatent No. 61/277,184 filed 19 Sep. 2009. In the example of FIG. 12, thephase center of GNSS antenna 1115 is determined and reduced for theheight and orientation of the range pole 1110 to the survey point 1160.The position of the rover can be determined at each measurement epochwhile static or kinematic. In this example, the location of point 1160is determined via static occupation, followed by a segment of kinematicpositioning, then another static occupation of point 1170. The locationof occupied points is often saved as part of a measurement process.

There are several applications that can take advantage of knowledge ofthe user location in order to reduce solution convergence times. Forexample, machine control operators from time-to-time need to stop andshut down their machine during meal times or overnight. The position ofthe machine is therefore often accurately known prior to the trackinginterruption. Similarly, a surveyor often measures the location ofpoints of interest via static occupation, separated by periods ofkinematic positioning. If tracking is interrupted while moving, thesurveyor can return to a previously surveyed mark (like point 1160 orpoint 1170 in FIG. 12) and restart operation. The use of known positioninformation can accelerate re-convergence of the estimation process.

The Known Position Input scheme presented below is applicable to GVRSrover processing, but it can also be used for single-base, VRS, and allRTK techniques.

Geometry Filter Seeding

The known rover position information can be used to seed the (X,Y,Z)position states of the Geometry Filter via tightly constrained positioncovariance terms. The known position in this case would help toaccelerate the convergence of all states in the Geometry Filter andtherefore the overall Float filter and iFlex solution.

The disadvantage of position seeding is that if the input coordinatesare incorrect, this will corrupt the Geometry filter into the future,unless the filter is reset.

Known Position Input Via Auxiliary Code-Carrier Filter Aiding

The auxiliary code-carrier filter results can be used to provide a meansof inputting position information to the FAMCAR process. An advantage ofthis approach is that the position aiding process does not alter theunderlying filters, but rather is just applied to the output of theAuxiliary Code-Carrier Filters. The position aiding process is analogousto that used for iono-bridging. In the case of position aiding, theAuxiliary Code-Carrier filter results are modified, whereas foriono-bridging, the ionospheric filter results are modified.

The Auxiliary Code-Carrier filter bank normally produces iono-freeambiguity estimates for each tracked satellite based on iono-free codemeasurements. Iono-free code is inherently noisy and therefore theiono-free ambiguity estimates of the Auxiliary Code-Carrier filters arealso noisy and only contribute a small amount of information to thefloat solution.

When the position of the rover (A) is known, the geometric range fromrover to each satellite is given by:ρ_(A) ^(i)√{square root over ((x ^(i) −X _(A))²+(y ^(i) −Y _(A))²+(z^(i) −Z _(A))²)}  (14)where:

-   (x^(i), y^(i), z^(i)) Cartesian WGS84 coordinates of satellite i,    given by the satellite ephemeris,-   (X_(A), Y_(A), Z_(A)) Cartesian WGS84 coordinates of the rover    (known position).

The reference receiver (R) location is also known and the geometricrange from reference receiver to each satellite is given as:ρ_(R) ^(i)√{square root over ((x ^(i) −X _(R))²+(y ^(i) −Y _(R))²+(z^(i) −Z _(R))²)}  (15)where:

-   (X_(R),Y_(R),Z_(R)) Cartesian WGS84 coordinates of the reference    receiver. Note that in the case of GVRS processing, the reference    receiver is synthetic, nevertheless the reference receiver    coordinates are defined.

The single difference iono-free carrier phase ambiguities are estimatedfor each satellite via the following equation (with all quantities givenin meters):Δ_(if) N _(RA) ^(i)=Δ_(if)Φ_(RA) ^(i)└Δρ_(RA) ^(i)+Δτ_(RA)^(i)+Δκ_(RA)┘  (16)where:

-   Δ_(if)N_(RA) ^(i) single-difference iono-free carrier phase    ambiguity for satellite i,-   Δ_(if)Φ_(RA) ^(i) single-difference iono-free carrier phase    observation for satellite i,-   Δρ_(RA) ^(i) single-difference geometric range for satellite i    (Δρ_(RA) ^(i)=ρ_(A) ^(i)ρ_(R) ^(i)),-   Δτ_(RA) ^(i) single-difference tropospheric bias for satellite i,    based on a tropospheric model (e.g. Hopfield, Goad-Goodman, etc), or    based on the estimated tropospheric bias parameters from the    Geometry Filter,-   Δκ_(RA) single-difference receiver clock bias (=reference receiver    clock bias minus the rover receiver clock bias).

The uncertainty of the rover location is expressed in terms of thefollowing position covariance matrix:

$\begin{matrix}{Q_{p} = \begin{bmatrix}q_{xx} & q_{xy} & q_{yz} \\q_{yx} & q_{yy} & q_{yz} \\q_{zx} & q_{zy} & q_{zz}\end{bmatrix}} & (17)\end{matrix}$where q_(xx) refers to the variance of the x-coordinate, q_(xy), refersto the covariance of the x and y coordinates etc.

The variance of the rover-satellite geometric range is obtained byprojecting the rover position covariance matrix into the direction ofthe satellite according to:

$\begin{matrix}{\sigma_{\rho_{A}^{i}}^{2} = {{\begin{bmatrix}a_{x}^{i} & a_{y}^{i} & a_{z}^{i}\end{bmatrix}\begin{bmatrix}q_{xx} & q_{xy} & q_{xz} \\q_{yx} & q_{yy} & q_{yz} \\q_{zx} & q_{zy} & q_{zz}\end{bmatrix}}\begin{bmatrix}a_{x}^{i} \\a_{y}^{i} \\a_{z}^{i}\end{bmatrix}}} & (18)\end{matrix}$where:

$a_{x}^{i} = \frac{- \left( {x^{i} - X_{A}} \right)}{\rho_{A}^{i}}$

-    Partial derivative of the rover-satellite geometric range with    respect to the rover X_(A) coordinate;

$a_{y}^{i} = \frac{- \left( {x^{i} - Y_{A}} \right)}{\rho_{A}^{i}}$

-    Partial derivative of the rover-satellite geometric range with    respect to the rover Y_(A) coordinate;

$a_{z}^{i} = \frac{- \left( {z^{i} - Z_{A}} \right)}{\rho_{A}^{i}}$

-    Partial derivative of the rover-satellite geometric range with    respect to the rover Z_(A) coordinate.

The variance of the computed single difference iono-free carrier phaseambiguity is computed by applying the law of propagation of variances to(16):σ_(Δ) _(if) _(N) _(RA) _(i) ²=σ_(Δ) _(if) _(Φ) _(RA) _(i) ²+σ_(Δρ) _(RA)_(i) ²+σ_(Δτ) _(RA) _(i) ²+σ_(Δκ) _(RA) _(i) ²  (19)where:

-   σ_(Δ) _(if) _(N) _(RA) _(i) ² variance of the single-difference    iono-free carrier phase ambiguity for satellite i;-   σ_(Δ) _(if) _(Φ) _(RA) _(i) ² variance of the single-difference    iono-free carrier phase measurement for satellite i;-   σ_(Δρ) _(RA) _(i) ² variance of the single-difference geometric    range term for satellite i;-   σ_(Δτ) _(RA) _(i) ² variance of the single-difference tropospheric    model value for satellite i;-   σ_(Δκ) _(RA) _(i) ² variance of the single-difference receiver clock    bias term.

Normally the dominant errors in (19) relate to the geometric-range termσ_(Δρ) _(RA) _(i) ², and the carrier phase measurement σ_(Δ) _(if) _(Φ)_(RA) _(i) ²; the other error sources are often ignored.

FIG. 13 illustrates the use of known position information in theupdating of the auxiliary code-carrier filter results. This flowchart isan expansion of steps 815 and 820 in FIG. 7.

The position aiding process is terminated as soon as the geometry filterhas sufficiently converged. The geometry filter convergence test isconducted at 1305. If known position is available (1310), then at 1320ionospheric-free carrier phase ambiguities are computed based on theknown position input. The ionospheric-free carrier phase ambiguities arestored to the Geometry Cache as part of step 1320.

It is important to monitor cycle slips in the multi-frequency bands toensure that the ionospheric-free carrier phase ambiguities stored in theGeometry cache are consistent with the current phase (1325). TheAuxiliary Code-Carrier Filter ambiguity results are updated with theGeometry Cached ambiguities in step 1330. The results of the AuxiliaryCode-Carrier Filters are posted at 1335, and used in the FAMCARcombination step 820.

FIG. 14 schematically describes the FAMCAR filtering process withposition aiding. FIG. 14 is derived from the standard FAMCAR filteringprocess shown in FIG. 5. The known position processor, 1405, acceptssingle-differenced ionospheric-free phase data from 605/610, plus theionospheric-free phase ambiguities 645 produced by the AuxiliaryCode-Carrier Filter bank 625. When known position information 1402 isprovided to the known position processor, it produces ionospheric-freephase ambiguities that replace those produced by the AuxiliaryCode-Carrier Filter bank (1410). The known position aided ambiguitiesare used in the FAMCAR combination step 655. Finally, the position andfloat ambiguity estimates are reported at step 660.

Known Position Input Via Code-Carrier Filters

The low accuracy of the Auxiliary Code-Carrier Filter ambiguity resultsnormally means that they don't contribute significantly to the finalFAMCAR combined float solution. This makes the Auxiliary Code-CarrierFilter results well suited to use for known position input. Furthermore,the iono-free carrier phase combination used in the AuxiliaryCode-Carrier Filters, means that the known position range computationscan be formed without being impacted by ionospheric bias. Ionosphericbias is a significant error source for GVRS processing.

The known position input could also be handled by modifying theCode-Carrier Filter results, in a manner which is analogous to that usedin the Auxiliary Code-Carrier Filter results. The disadvantage of thisapproach is that the Code-Carrier Filters nominally use the wide-lanecarrier phase combination, which contains an ionospheric bias. Second,the code-carrier filter results contribute significantly to the FAMCARcombined float solution therefore this information would be compromisedif replaced by the known position input.

Rather than replacing the Auxiliary Code-Carrier Filter results withknown position information, an alternative is to generate a parallelbank of Auxiliary Code-Carrier Filter results devoted to known positioninformation input.

Termination of the Known Position Aiding Process

The known position aiding process outlined does not corrupt any FAMCARcomponent filter, just the uncombined filter results (output) aremodified prior to the FAMCAR filter combination step. The known positionaiding process is automatically terminated when:

-   -   The known position is deemed to be incorrect;    -   The Geometry filter has converged sufficiently that the known        position aiding is no longer required.

The known position information is deemed suspect or incorrect if thefloat/iFlex solution fails a statistical test of the mean and/orvariance.

When the position states of the Geometry filter have converged, i.e. allvariances <for example 0.002 m². In this case, the position aiding nolonger adds significant information to the float solution.

Performance of Known Position Input Processing

As illustrated in FIG. 3, convergence and re-convergence of thehorizontal position accuracy can take 15-20 minutes to achievecentimeter-level. With known position input, the convergence time isnormally reduced to a few seconds up to for example 1 minute.

Following is a summary of some of the inventive concepts describedherein:

[Iono Bridging]

-   -   1. A positioning method, comprising        -   a. Obtaining GNSS data derived from multi-frequency signals            received at a rover antenna,        -   b. Obtaining correction data derived from a network of            reference stations,        -   c. At each of a plurality of epochs, using the GNSS data and            the correction data to estimate values defining a rover            antenna position and a set of multi-frequency ambiguities,        -   d. Using an ionospheric filter to model variation in            ionospheric bias per satellite,        -   e. Estimating a set of ionospheric carrier-phase ambiguities            at least when the multi-frequency ambiguities have attained            a predetermined precision,        -   f. Caching the estimated ionospheric carrier-phase            ambiguities,        -   g. Detecting an interruption of signal received at the rover            antenna,        -   h. Determining reacquisition of signals received at the            rover antenna,        -   i. Predicting an ionospheric bias per satellite over an            interruption interval,        -   j. For each satellite, combining a cached ionospheric            carrier-phase ambiguity with a predicted ionospheric bias to            obtain a post-interruption ionospheric ambiguity estimate,        -   k. Using the post-interruption ionospheric ambiguity            estimates to aid estimation of at least a rover antenna            position subsequent to the reacquisition.    -   2. The method of 1, wherein aiding comprises, at each of a        plurality of epochs after reacquisition of signals, using the        GNSS data and the correction data and the post-interruption iono        ambiguity estimates to estimate values defining an aided rover        antenna position and an aided set of multi-frequency        ambiguities.    -   3. The method of 2, further comprising determining a precision        of the post-interruption rover antenna position and of each of        the multi-frequency ambiguities.    -   4. The method of 3, wherein when the precisions of the        post-interruption rover antenna position and of each of the        multi-frequency ambiguities has achieved a predetermined        threshold, using the post-interruption ionospheric ambiguity        estimates to aid estimation is terminated.    -   5. The method of one of 1-4, wherein rover-satellite ionospheric        biases are substantially uncorrelated with reference        station-satellite ionospheric biases.    -   6. The method of one of 1-5, wherein the ionospheric filter        models an ionospheric bias per satellite which is        single-differenced between rover data and correction data.    -   7. The method of one of 1-6, wherein the set of ionospheric        carrier-phase ambiguities comprises a single-differenced        ionospheric ambiguity per satellite    -   8. The method of one of 1-7, wherein detecting an interruption        comprises determining that fewer than four satellites are        continuously observed over a predetermined interval.    -   9. The method of one of 1-8, wherein determining reacquisition        comprises determining that at least four satellites are        continuously observed over a predetermined interval.    -   10. The method of one of 1-9, wherein the estimated rover        antenna position has a precision which is better than a        precision that would be obtained without use of the generated        set of ionospheric ambiguity estimates.    -   11. The method of one of 1-10, further comprising terminating        using the post-interruption ionospheric ambiguity estimates to        aid estimation when substantially no further benefit is obtained        therefrom.    -   12. The method of one of 1-11, wherein the values defining the        rover antenna position are estimated in a filter, the method        further comprising monitoring precisions of the values estimated        and terminating using the post-interruption ionospheric        ambiguity estimates to aid estimation of rover antenna position        when a precision threshold is achieved for values defining the        rover position.    -   13. The method of one of 10-11 wherein terminating using the        post-interruption ionospheric ambiguity estimates to aid        estimation of rover antenna position comprises continuing to use        the GNSS data and the correction data to estimate values        defining a rover antenna position.    -   14. The method of one of 1-13, further comprising predicting        tropospheric bias and using predicted tropospheric bias to aid        the estimation of at least a rover antenna position subsequent        to the reacquisition.    -   15. The method of one of 1-14, wherein the set of ionospheric        carrier-phase ambiguities is determined as a weighted average of        integer ambiguity candidate sets.    -   16. The method one of 1-15, wherein caching of the estimated        ionospheric phase ambiguities is deferred until satellite        tracking is determined to be stable and within predetermined        parameters.    -   17. The method of one of 1-16, further comprising estimating        time-wise variation of an ionospheric bias per satellite.    -   18. The method of one of 1-17, further comprising estimating a        change in ionospheric carrier-phase ambiguities after detecting        an interruption of signal received at the rover antenna.    -   19. The method of one of 1-18, wherein using the        post-interruption ionospheric ambiguity estimates to aid        estimation of at least a rover antenna position subsequent to        the reacquisition comprises combining the post-interruption        ionospheric ambiguity estimates with estimates of other        parameters from a set of factorized filters.    -   20. The method of 19, wherein the post-interruption ionospheric        ambiguity estimates are substituted for estimates from a bank of        ionospheric filters.    -   21. Apparatus for performing a method according to one of 1-20.    -   22. A computer program comprising instructions for causing an        apparatus to perform a method according to one of 1-20.    -   23. A computer program product comprising a tangible        computer-readable medium embodying instructions for causing an        apparatus to perform a method according to one of 1-20.

[Known Position]

-   -   1. A positioning method, comprising        -   a. Obtaining GNSS data derived from multi-frequency signals            received at a rover antenna,        -   b. Obtaining correction data derived from a network of            reference stations,        -   c. At each of a plurality of epochs, using the GNSS data and            the correction data to estimate values defining a rover            antenna position and a set of multi-frequency ambiguities,        -   d. Estimating an ionospheric-free carrier-phase ambiguity            per satellite based on a known rover antenna position, and        -   e. Using the estimated ionospheric-free carrier-phase            ambiguities to assist in determining an aided rover antenna            position.    -   2. The method of 1, wherein using the estimated ionospheric-free        carrier-phase ambiguities to assist in determining an aided        rover antenna position comprises combining the estimated        ionospheric-free carrier-phase ambiguity with an estimated        widelane ambiguity and with an estimated ionospheric-free        ambiguity and with values defining the known rover antenna        position to obtain values defining an aided rover antenna        position and aided multi-frequency ambiguities.    -   3. The method of one of 1-2, further comprising terminating        using the estimated ionospheric-free carrier-phase ambiguities        to assist in determining an aided rover antenna position when        substantially no further benefit is obtained therefrom.    -   4. The method of one of 1-3, further comprising monitoring        precision of an unaided rover antenna position estimate to        determine when substantially no further benefit is obtained from        using the estimated ionospheric-free carrier-phase ambiguities        to assist in determining an aided rover antenna position.    -   5. The method of one of 2-4, wherein the widelane ambiguities        are estimated in a set of code-carrier filters.    -   6. The method of one of 2-5, wherein the ionospheric-free        ambiguities are estimated in a geometry filter.    -   7. The method of one of 1-6, wherein the ionospheric-free        carrier-phase ambiguity per satellite based on a known rover        antenna position is computed using the known rover antenna        position and observed carrier-phase measurements.    -   8. The method of one of 1-7, wherein the ionospheric-free        carrier-phase ambiguity for at least one satellite based on a        known rover antenna position is improved using a prevailing        tropospheric bias on the respective satellite.    -   9. The method of one of 1-8, wherein using the estimated        ionospheric-free carrier-phase ambiguities to assist in        determining an aided rover antenna position estimated        ionospheric-free carrier-phase ambiguity estimates with        estimates of other parameters from a set of factorized filters.    -   10. The method of 9, wherein the estimated ionospheric-free        carrier-phase ambiguity estimates are substituted for estimates        from a bank of auxiliary code-carrier filters.    -   11. The method of 10, further comprising creating a separate        bank of auxiliary code carrier filter results for the known        position results so that normal auxiliary code carrier filter        results remain unaffected.    -   12. Apparatus for performing a method according to one of 1-11.    -   13. A computer program comprising instructions for causing an        apparatus to perform a method according to one of 1-11.    -   14. A computer program product comprising a tangible        computer-readable medium embodying instructions for causing an        apparatus to perform a method according to one of 1-11.    -   The foregoing description of embodiments is not intended as        limiting the scope of but rather to provide examples of the        invention as defined by the claims.

The invention claimed is:
 1. A method of estimating a position of arover antenna using a computer processor, the method comprising:obtaining GNSS data derived from multi-frequency signals received at therover antenna; obtaining correction data for the GNSS data from anetwork of reference stations; at each of a plurality of epochs,estimating values defining a rover antenna position and a set ofmulti-frequency ambiguities using the GNSS data and the correction data;estimating an ionospheric-free carrier-phase ambiguity per satellitebased on a known rover antenna position; and assisting determination ofan aided rover antenna position using the estimated ionospheric-freecarrier-phase ambiguities.
 2. The method of claim 1, wherein assistingthe determination of the aided rover antenna position comprisescombining the estimated ionospheric-free carrier-phase ambiguity with anestimated widelane ambiguity, an estimated ionospheric-free ambiguity,and values defining the known rover antenna position to obtain valuesdefining the aided rover antenna position and aided multi-frequencyambiguities.
 3. The method of claim 2, wherein the widelane ambiguitiesare estimated in a set of code-carrier filters operated by theprocessor.
 4. The method of claim 2, wherein the ionospheric-freeambiguities are estimated in a geometry filter operated by theprocessor.
 5. The method of claim 1, further comprising monitoringprecision of an unaided rover antenna position estimate to determinewhen substantially no further benefit is obtained from using theestimated ionospheric-free carrier-phase ambiguities in assistingdetermination of the aided rover antenna position.
 6. The method ofclaim 1, wherein the ionospheric-free carrier-phase ambiguity persatellite is computed using the known rover antenna position andobserved carrier-phase measurements.
 7. The method of claim 1, furthercomprising improving the ionospheric-free carrier-phase ambiguity for atleast one satellite based on the known rover antenna position using aprevailing tropospheric bias on the respective satellite.
 8. The methodof claim 1, wherein assisting the determination of the aided roverantenna position comprises using the estimated ionospheric-freecarrier-phase ambiguity estimates with estimates of other parametersfrom a set of factorized filters.
 9. The method of claim 8, furthercomprising substituting the ionospheric-free carrier-phase ambiguityestimates for estimates from a bank of auxiliary code-carrier filters.10. The method of claim 9, further comprising creating separate bank ofauxiliary code carrier filter results for the known position results sothat normal auxiliary code carrier filter results remain unaffected. 11.A computer program product comprising a non-transitory computer-readablemedium embodying instructions for causing an apparatus to perform themethod of claim
 1. 12. An apparatus comprising: a receiver configuredto: receive GNSS data derived from multi-frequency signals received at arover antenna; and receive correction data for the GNSS data from anetwork of reference stations; and a processor coupled to the receiverand configured to: at each of a plurality of epochs, estimate valuesdefining a rover antenna position and a set of multi-frequencyambiguities using the GNSS data and the correction data; estimate anionospheric-free carrier-phase ambiguity per satellite based on a knownrover antenna position; and assist determination of an aided roverantenna position using the estimated ionospheric-free carrier-phaseambiguities.
 13. The apparatus of claim 12, wherein assistingdetermination comprises combining the estimated ionospheric-freecarrier-phase ambiguity with an estimated widelane ambiguity, anestimated ionospheric-free ambiguity, and values defining the knownrover antenna position to obtain values defining the aided rover antennaposition and aided multi-frequency ambiguities.
 14. The apparatus ofclaim 13, wherein the widelane ambiguities are estimated in a set ofcode-carrier filters operated by the processor.
 15. The apparatus ofclaim 13, wherein the ionospheric-free ambiguities are estimated in ageometry filter operated by the processor.
 16. The apparatus of claim13, wherein the processor is configured to estimate the ionospheric-freecarrier-phase ambiguity per satellite using the known rover antennaposition and observed carrier-phase measurements.
 17. The apparatus ofclaim 12, wherein the processor is further configured to monitorprecision of an unaided rover antenna position estimate to determinewhen substantially no further benefit is obtained from using theestimated ionospheric-free carrier-phase ambiguities in assistingdetermination of an aided rover antenna position.
 18. The apparatus ofclaim 12, wherein the processor is further configured to improve theionospheric-free carrier-phase ambiguity for at least one satellitebased on the known rover antenna position using a prevailingtropospheric bias on the respective satellite.
 19. The apparatus ofclaim 12, wherein assisting determination comprises using the estimatedionospheric-free carrier-phase ambiguity estimates with estimates ofother parameters from a set of factorized filters operated by theprocessor.
 20. The apparatus of claim 12, wherein the processor isfurther configured to substitute the ionospheric-free carrier-phaseambiguity estimates for estimates from a bank of auxiliary code-carrierfilters.
 21. The apparatus of claim 20, wherein the processor is furtherconfigured to create a separate bank of auxiliary code carrier filterresults for the known position results so that normal auxiliary codecarrier filter results remain unaffected.